The Study Of Algorithm And Simulation For Ring Laser Gyro Strapdown Inertial Navigation System For Rocket

In this thesis, connected with the ring laser gyro (RLG) strapdown inertial navigation system (LINS) applied to rocket, the algorithm and simulation are studied, furthermore system errors are analyzed. Compared with LINS analysis result, application of the method in this thesis can alleviate the dependence upon the precision of inertial instrument and test facilities. So it was widely used in all kinds of INS at present.Most of algorithm design techniques for LINS are similar in nature in that they excite instrument errors through system rotation. Several factors impact the design of algorithm techniques, which are errors equation, data process, and quaternion calculation. Errors equation describes the linear relation between error source and navigation outputs error. In order to decrease linear model error, we change the system calibration method in this thesis, can depend on separating the test facilities errors to decrease the error source.Kalman filter is an optimal dynamic estimate method, but has some problems when applied to INS alignment. A kind of using exterior observation information KF is designed after available analysis. It can not only reduce sensitivity to noise and random drift, but also quicken the measurement process.In this thesis, by controlling the precision of real time calculation quaternion, research on Matrix in LINS based on optimal method for quaternion, presents an ameliorative algorithm to the LINS. Simulation results indicate the ameliorative algorithm and simulation platform were available.At the last of this thesis, some problems of the LINS precision were discussed, and simulation fly results were given. The navigation error contrasts indicate the LINS' navigation performance has been greatly improved after quaternion real time compensated.